\hypertarget{cc__statespace__augmentation__for__disturbance__rejection_8m}{
\subsection{cc\_\-statespace\_\-augmentation\_\-for\_\-disturbance\_\-rejection.m File Reference}
\label{dd/d5e/cc__statespace__augmentation__for__disturbance__rejection_8m}\index{cc\_\-statespace\_\-augmentation\_\-for\_\-disturbance\_\-rejection.m@{cc\_\-statespace\_\-augmentation\_\-for\_\-disturbance\_\-rejection.m}}
}


State space matrices augmentation for the disturbance rejection.  


\subsubsection*{Functions}
\begin{DoxyCompactItemize}
\item 
function \hyperlink{cc__statespace__augmentation__for__disturbance__rejection_8m_a62f401eba6082a846fe1e9c5342f4e59}{cc\_\-statespace\_\-augmentation\_\-for\_\-disturbance\_\-rejection} (in Ap, in Bp, in Cp, in Dp, in Ad, in Bd, in Cd, in Dd, in flag\_\-sparsemode)
\end{DoxyCompactItemize}


\subsubsection{Detailed Description}
State space matrices augmentation for the disturbance rejection. \begin{DoxyAuthor}{Author}
Mikhail Konnik 
\end{DoxyAuthor}
\begin{DoxyDate}{Date}
11 January 2012
\end{DoxyDate}
\hypertarget{dd/d5e/cc__statespace__augmentation__for__disturbance__rejection_8m_distrubaug}{}\subsubsection{State augmentation for the disturbance rejection}\label{dd/d5e/cc__statespace__augmentation__for__disturbance__rejection_8m_distrubaug}
In most implementations of MPC, the problem of the constant output disturbance is solved by incorporating a constant output disturbance into the process model. A constant output disturbance model can be constructed using the following augmented state-\/space model: $ A = \left[ \begin{array}{cc} A & 0\\ 0 & I \\ \end{array}\right] \,\,\, B = \left[ \begin{array}{c} B\\ 0 \\ \end{array}\right] $.

in which $p \in R^{sp}$ , $sp$ is the number of augmented output disturbance states, and Gp determines the effect of these states on the output. 

Definition in file \hyperlink{cc__statespace__augmentation__for__disturbance__rejection_8m_source}{cc\_\-statespace\_\-augmentation\_\-for\_\-disturbance\_\-rejection.m}.



\subsubsection{Function Documentation}
\hypertarget{cc__statespace__augmentation__for__disturbance__rejection_8m_a62f401eba6082a846fe1e9c5342f4e59}{
\index{cc\_\-statespace\_\-augmentation\_\-for\_\-disturbance\_\-rejection.m@{cc\_\-statespace\_\-augmentation\_\-for\_\-disturbance\_\-rejection.m}!cc\_\-statespace\_\-augmentation\_\-for\_\-disturbance\_\-rejection@{cc\_\-statespace\_\-augmentation\_\-for\_\-disturbance\_\-rejection}}
\index{cc\_\-statespace\_\-augmentation\_\-for\_\-disturbance\_\-rejection@{cc\_\-statespace\_\-augmentation\_\-for\_\-disturbance\_\-rejection}!cc_statespace_augmentation_for_disturbance_rejection.m@{cc\_\-statespace\_\-augmentation\_\-for\_\-disturbance\_\-rejection.m}}
\paragraph[{cc\_\-statespace\_\-augmentation\_\-for\_\-disturbance\_\-rejection}]{\setlength{\rightskip}{0pt plus 5cm}function cc\_\-statespace\_\-augmentation\_\-for\_\-disturbance\_\-rejection (
\begin{DoxyParamCaption}
\item[{in}]{ Ap, }
\item[{in}]{ Bp, }
\item[{in}]{ Cp, }
\item[{in}]{ Dp, }
\item[{in}]{ Ad, }
\item[{in}]{ Bd, }
\item[{in}]{ Cd, }
\item[{in}]{ Dd, }
\item[{in}]{ flag\_\-sparsemode}
\end{DoxyParamCaption}
)}\hfill}
\label{dd/d5e/cc__statespace__augmentation__for__disturbance__rejection_8m_a62f401eba6082a846fe1e9c5342f4e59}

\begin{DoxyParams}{Parameters}
\item[{\em Ap}]= discrete plant state evolution matrix. \item[{\em Bp}]= discrete plant input matrix. \item[{\em Cp}]= discrete plant output matrix. \item[{\em Dp}]= discrete plant feedthrough matrix. \item[{\em Ad}]= discrete disturbance state evolution matrix. \item[{\em Bd}]= discrete disturbance input matrix. \item[{\em Cd}]= discrete disturbance output matrix \item[{\em Dd}]= discrete disturbance feedthrough matrix. \end{DoxyParams}

\begin{DoxyRetVals}{Return values}
\item[{\em A}]= augmentated discrete state evolution matrix A. \item[{\em B}]= augmentated discrete input matrix B. \item[{\em C}]= augmentated discrete output matrix C. \item[{\em D}]= augmentated G matrix. \item[{\em flag\_\-sparsemode}]= spare or non-\/sparse matrices return. \end{DoxyRetVals}
